<html><head><meta http-equiv="content-type" content="text/html; charset=utf-8"> <style>
	.KEYW {color: #933;}
	.COMM {color: #bbb; font-style: italic;}
	.NUMB {color: #393;}
	.STRN {color: #393;}
	.REGX {color: #339;}
	.line {border-right: 1px dotted #666; color: #666; font-style: normal;}
	</style></head><body><pre><span class='line'>  1</span> <span class="COMM">/**
<span class='line'>  2</span>  * @author David Gossow - dgossow@willowgarage.com
<span class='line'>  3</span>  */</span><span class="WHIT">
<span class='line'>  4</span> 
<span class='line'>  5</span> </span><span class="COMM">/**
<span class='line'>  6</span>  * The main marker control object for an interactive marker.
<span class='line'>  7</span>  *
<span class='line'>  8</span>  * @constructor
<span class='line'>  9</span>  * @param options - object with following keys:
<span class='line'> 10</span>  *  * parent - the parent of this control
<span class='line'> 11</span>  *  * message - the interactive marker control message
<span class='line'> 12</span>  *  * camera - the main camera associated with the viewer for this marker client
<span class='line'> 13</span>  *  * path (optional) - the base path to any meshes that will be loaded
<span class='line'> 14</span>  */</span><span class="WHIT">
<span class='line'> 15</span> </span><span class="NAME">ROS3D.InteractiveMarkerControl</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">options</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 16</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">that</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 17</span> </span><span class="WHIT">  </span><span class="NAME">THREE.Object3D.call</span><span class="PUNC">(</span><span class="KEYW">this</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 18</span> </span><span class="WHIT">  </span><span class="NAME">THREE.EventDispatcher.call</span><span class="PUNC">(</span><span class="KEYW">this</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 19</span> 
<span class='line'> 20</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">options</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 21</span> </span><span class="WHIT">  </span><span class="NAME">this.parent</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.parent</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 22</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">message</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.message</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 23</span> </span><span class="WHIT">  </span><span class="NAME">this.name</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">message.name</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 24</span> </span><span class="WHIT">  </span><span class="NAME">this.camera</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.camera</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 25</span> </span><span class="WHIT">  </span><span class="NAME">this.path</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.path</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="STRN">'/'</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 26</span> </span><span class="WHIT">  </span><span class="NAME">this.dragging</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">false</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 27</span> 
<span class='line'> 28</span> </span><span class="WHIT">  </span><span class="COMM">// orientation for the control</span><span class="WHIT">
<span class='line'> 29</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">controlOri</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">THREE.Quaternion</span><span class="PUNC">(</span><span class="NAME">message.orientation.x</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">message.orientation.y</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 30</span> </span><span class="WHIT">      </span><span class="NAME">message.orientation.z</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">message.orientation.w</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 31</span> </span><span class="WHIT">  </span><span class="NAME">controlOri.normalize</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 32</span> 
<span class='line'> 33</span> </span><span class="WHIT">  </span><span class="COMM">// transform x axis into local frame</span><span class="WHIT">
<span class='line'> 34</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">controlAxis</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">THREE.Vector3</span><span class="PUNC">(</span><span class="NUMB">1</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 35</span> </span><span class="WHIT">  </span><span class="NAME">controlAxis.applyQuaternion</span><span class="PUNC">(</span><span class="NAME">controlOri</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 36</span> 
<span class='line'> 37</span> </span><span class="WHIT">  </span><span class="NAME">this.currentControlOri</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">THREE.Quaternion</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 38</span> 
<span class='line'> 39</span> </span><span class="WHIT">  </span><span class="COMM">// determine mouse interaction</span><span class="WHIT">
<span class='line'> 40</span> </span><span class="WHIT">  </span><span class="KEYW">switch</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">message.interaction_mode</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 41</span> </span><span class="WHIT">    </span><span class="KEYW">case</span><span class="WHIT"> </span><span class="NAME">ROS3D.INTERACTIVE_MARKER_MOVE_AXIS</span><span class="PUNC">:</span><span class="WHIT">
<span class='line'> 42</span> </span><span class="WHIT">      </span><span class="NAME">this.addEventListener</span><span class="PUNC">(</span><span class="STRN">'mousemove'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">this.parent.moveAxis.bind</span><span class="PUNC">(</span><span class="NAME">this.parent</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">controlAxis</span><span class="PUNC">)</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 43</span> </span><span class="WHIT">      </span><span class="NAME">this.addEventListener</span><span class="PUNC">(</span><span class="STRN">'touchmove'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">this.parent.moveAxis.bind</span><span class="PUNC">(</span><span class="NAME">this.parent</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">controlAxis</span><span class="PUNC">)</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 44</span> </span><span class="WHIT">      </span><span class="KEYW">break</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 45</span> </span><span class="WHIT">    </span><span class="KEYW">case</span><span class="WHIT"> </span><span class="NAME">ROS3D.INTERACTIVE_MARKER_ROTATE_AXIS</span><span class="PUNC">:</span><span class="WHIT">
<span class='line'> 46</span> </span><span class="WHIT">      </span><span class="KEYW">this</span><span class="WHIT">
<span class='line'> 47</span> </span><span class="WHIT">          </span><span class="PUNC">.</span><span class="NAME">addEventListener</span><span class="PUNC">(</span><span class="STRN">'mousemove'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">this.parent.rotateAxis.bind</span><span class="PUNC">(</span><span class="NAME">this.parent</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">controlOri</span><span class="PUNC">)</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 48</span> </span><span class="WHIT">      </span><span class="KEYW">break</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 49</span> </span><span class="WHIT">    </span><span class="KEYW">case</span><span class="WHIT"> </span><span class="NAME">ROS3D.INTERACTIVE_MARKER_MOVE_PLANE</span><span class="PUNC">:</span><span class="WHIT">
<span class='line'> 50</span> </span><span class="WHIT">      </span><span class="KEYW">this</span><span class="WHIT">
<span class='line'> 51</span> </span><span class="WHIT">          </span><span class="PUNC">.</span><span class="NAME">addEventListener</span><span class="PUNC">(</span><span class="STRN">'mousemove'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">this.parent.movePlane.bind</span><span class="PUNC">(</span><span class="NAME">this.parent</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">controlAxis</span><span class="PUNC">)</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 52</span> </span><span class="WHIT">      </span><span class="KEYW">break</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 53</span> </span><span class="WHIT">    </span><span class="KEYW">case</span><span class="WHIT"> </span><span class="NAME">ROS3D.INTERACTIVE_MARKER_BUTTON</span><span class="PUNC">:</span><span class="WHIT">
<span class='line'> 54</span> </span><span class="WHIT">      </span><span class="NAME">this.addEventListener</span><span class="PUNC">(</span><span class="STRN">'click'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">this.parent.buttonClick.bind</span><span class="PUNC">(</span><span class="NAME">this.parent</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">)</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 55</span> </span><span class="WHIT">      </span><span class="KEYW">break</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 56</span> </span><span class="WHIT">    </span><span class="KEYW">default</span><span class="PUNC">:</span><span class="WHIT">
<span class='line'> 57</span> </span><span class="WHIT">      </span><span class="KEYW">break</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 58</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
<span class='line'> 59</span> 
<span class='line'> 60</span> </span><span class="WHIT">  </span><span class="COMM">/**
<span class='line'> 61</span>    * Install default listeners for highlighting / dragging.
<span class='line'> 62</span>    * 
<span class='line'> 63</span>    * @param event - the event to stop
<span class='line'> 64</span>    */</span><span class="WHIT">
<span class='line'> 65</span> </span><span class="WHIT">  </span><span class="KEYW">function</span><span class="WHIT"> </span><span class="NAME">stopPropagation</span><span class="PUNC">(</span><span class="NAME">event</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 66</span> </span><span class="WHIT">    </span><span class="NAME">event.stopPropagation</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 67</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
<span class='line'> 68</span> 
<span class='line'> 69</span> </span><span class="WHIT">  </span><span class="COMM">// check the mode</span><span class="WHIT">
<span class='line'> 70</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">message.interaction_mode</span><span class="WHIT"> </span><span class="PUNC">!=</span><span class="WHIT"> </span><span class="NAME">ROS3D.INTERACTIVE_MARKER_NONE</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 71</span> </span><span class="WHIT">    </span><span class="NAME">this.addEventListener</span><span class="PUNC">(</span><span class="STRN">'mousedown'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">this.parent.startDrag.bind</span><span class="PUNC">(</span><span class="NAME">this.parent</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">)</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 72</span> </span><span class="WHIT">    </span><span class="NAME">this.addEventListener</span><span class="PUNC">(</span><span class="STRN">'mouseup'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">this.parent.stopDrag.bind</span><span class="PUNC">(</span><span class="NAME">this.parent</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">)</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 73</span> </span><span class="WHIT">    </span><span class="NAME">this.addEventListener</span><span class="PUNC">(</span><span class="STRN">'contextmenu'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">this.parent.showMenu.bind</span><span class="PUNC">(</span><span class="NAME">this.parent</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">)</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 74</span> </span><span class="WHIT">    </span><span class="NAME">this.addEventListener</span><span class="PUNC">(</span><span class="STRN">'mouseover'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">stopPropagation</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 75</span> </span><span class="WHIT">    </span><span class="NAME">this.addEventListener</span><span class="PUNC">(</span><span class="STRN">'mouseout'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">stopPropagation</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 76</span> </span><span class="WHIT">    </span><span class="NAME">this.addEventListener</span><span class="PUNC">(</span><span class="STRN">'click'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">stopPropagation</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 77</span> 
<span class='line'> 78</span> </span><span class="WHIT">    </span><span class="COMM">// touch support</span><span class="WHIT">
<span class='line'> 79</span> </span><span class="WHIT">    </span><span class="NAME">this.addEventListener</span><span class="PUNC">(</span><span class="STRN">'touchstart'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">event3d</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 80</span> </span><span class="WHIT">      </span><span class="NAME">console.log</span><span class="PUNC">(</span><span class="NAME">event3d.domEvent</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 81</span> </span><span class="WHIT">      </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">event3d.domEvent.touches.length</span><span class="WHIT"> </span><span class="PUNC">==</span><span class="WHIT"> </span><span class="NUMB">1</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 82</span> </span><span class="WHIT">        </span><span class="NAME">event3d.type</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="STRN">'mousedown'</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 83</span> </span><span class="WHIT">        </span><span class="NAME">event3d.domEvent.button</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 84</span> </span><span class="WHIT">        </span><span class="NAME">that.dispatchEvent</span><span class="PUNC">(</span><span class="NAME">event3d</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 85</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="WHIT">
<span class='line'> 86</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 87</span> </span><span class="WHIT">    </span><span class="NAME">this.addEventListener</span><span class="PUNC">(</span><span class="STRN">'touchmove'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">event3d</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 88</span> </span><span class="WHIT">      </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">event3d.domEvent.touches.length</span><span class="WHIT"> </span><span class="PUNC">==</span><span class="WHIT"> </span><span class="NUMB">1</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 89</span> </span><span class="WHIT">        </span><span class="NAME">console.log</span><span class="PUNC">(</span><span class="NAME">event3d.domEvent</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 90</span> </span><span class="WHIT">        </span><span class="NAME">event3d.type</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="STRN">'mousemove'</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 91</span> </span><span class="WHIT">        </span><span class="NAME">event3d.domEvent.button</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 92</span> </span><span class="WHIT">        </span><span class="NAME">that.dispatchEvent</span><span class="PUNC">(</span><span class="NAME">event3d</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 93</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="WHIT">
<span class='line'> 94</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 95</span> </span><span class="WHIT">    </span><span class="NAME">this.addEventListener</span><span class="PUNC">(</span><span class="STRN">'touchend'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">event3d</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 96</span> </span><span class="WHIT">      </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">event3d.domEvent.touches.length</span><span class="WHIT"> </span><span class="PUNC">==</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 97</span> </span><span class="WHIT">        </span><span class="NAME">event3d.domEvent.button</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 98</span> </span><span class="WHIT">        </span><span class="NAME">event3d.type</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="STRN">'mouseup'</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 99</span> </span><span class="WHIT">        </span><span class="NAME">that.dispatchEvent</span><span class="PUNC">(</span><span class="NAME">event3d</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>100</span> </span><span class="WHIT">        </span><span class="NAME">event3d.type</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="STRN">'click'</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>101</span> </span><span class="WHIT">        </span><span class="NAME">that.dispatchEvent</span><span class="PUNC">(</span><span class="NAME">event3d</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>102</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="WHIT">
<span class='line'>103</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>104</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
<span class='line'>105</span> 
<span class='line'>106</span> </span><span class="WHIT">  </span><span class="COMM">// rotation behavior</span><span class="WHIT">
<span class='line'>107</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">rotInv</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">THREE.Quaternion</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>108</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">posInv</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">this.parent.position.clone</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">.</span><span class="NAME">multiplyScalar</span><span class="PUNC">(</span><span class="PUNC">-</span><span class="NUMB">1</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>109</span> </span><span class="WHIT">  </span><span class="KEYW">switch</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">message.orientation_mode</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>110</span> </span><span class="WHIT">    </span><span class="KEYW">case</span><span class="WHIT"> </span><span class="NAME">ROS3D.INTERACTIVE_MARKER_INHERIT</span><span class="PUNC">:</span><span class="WHIT">
<span class='line'>111</span> </span><span class="WHIT">      </span><span class="NAME">rotInv</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">this.parent.quaternion.clone</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">.</span><span class="NAME">inverse</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>112</span> </span><span class="WHIT">      </span><span class="NAME">this.updateMatrixWorld</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">force</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>113</span> </span><span class="WHIT">        </span><span class="NAME">ROS3D.InteractiveMarkerControl.prototype.updateMatrixWorld.call</span><span class="PUNC">(</span><span class="NAME">that</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">force</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>114</span> </span><span class="WHIT">        </span><span class="NAME">that.currentControlOri.copy</span><span class="PUNC">(</span><span class="NAME">that.quaternion</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>115</span> </span><span class="WHIT">        </span><span class="NAME">that.currentControlOri.normalize</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>116</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>117</span> </span><span class="WHIT">      </span><span class="KEYW">break</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>118</span> </span><span class="WHIT">    </span><span class="KEYW">case</span><span class="WHIT"> </span><span class="NAME">ROS3D.INTERACTIVE_MARKER_FIXED</span><span class="PUNC">:</span><span class="WHIT">
<span class='line'>119</span> </span><span class="WHIT">      </span><span class="NAME">this.updateMatrixWorld</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">force</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>120</span> </span><span class="WHIT">        </span><span class="NAME">that.useQuaternion</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">true</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>121</span> </span><span class="WHIT">        </span><span class="NAME">that.quaternion</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">that.parent.quaternion.clone</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">.</span><span class="NAME">inverse</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>122</span> </span><span class="WHIT">        </span><span class="NAME">that.updateMatrix</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>123</span> </span><span class="WHIT">        </span><span class="NAME">that.matrixWorldNeedsUpdate</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">true</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>124</span> </span><span class="WHIT">        </span><span class="NAME">ROS3D.InteractiveMarkerControl.prototype.updateMatrixWorld.call</span><span class="PUNC">(</span><span class="NAME">that</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">force</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>125</span> </span><span class="WHIT">        </span><span class="NAME">that.currentControlOri.copy</span><span class="PUNC">(</span><span class="NAME">that.quaternion</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>126</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>127</span> </span><span class="WHIT">      </span><span class="KEYW">break</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>128</span> </span><span class="WHIT">    </span><span class="KEYW">case</span><span class="WHIT"> </span><span class="NAME">ROS3D.INTERACTIVE_MARKER_VIEW_FACING</span><span class="PUNC">:</span><span class="WHIT">
<span class='line'>129</span> </span><span class="WHIT">      </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">independentMarkerOrientation</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">message.independentMarkerOrientation</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>130</span> </span><span class="WHIT">      </span><span class="NAME">this.updateMatrixWorld</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">force</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>131</span> </span><span class="WHIT">        </span><span class="NAME">that.camera.updateMatrixWorld</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>132</span> </span><span class="WHIT">        </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">cameraRot</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">THREE.Matrix4</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">.</span><span class="NAME">extractRotation</span><span class="PUNC">(</span><span class="NAME">that.camera.matrixWorld</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>133</span> 
<span class='line'>134</span> </span><span class="WHIT">        </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">ros2Gl</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">THREE.Matrix4</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>135</span> </span><span class="WHIT">        </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">r90</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">Math.PI</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NUMB">0.5</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>136</span> </span><span class="WHIT">        </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">rv</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">THREE.Vector3</span><span class="PUNC">(</span><span class="PUNC">-</span><span class="NAME">r90</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">r90</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>137</span> </span><span class="WHIT">        </span><span class="NAME">ros2Gl.setRotationFromEuler</span><span class="PUNC">(</span><span class="NAME">rv</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>138</span> 
<span class='line'>139</span> </span><span class="WHIT">        </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">worldToLocal</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">THREE.Matrix4</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>140</span> </span><span class="WHIT">        </span><span class="NAME">worldToLocal.getInverse</span><span class="PUNC">(</span><span class="NAME">that.parent.matrixWorld</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>141</span> 
<span class='line'>142</span> </span><span class="WHIT">        </span><span class="NAME">cameraRot.multiplyMatrices</span><span class="PUNC">(</span><span class="NAME">cameraRot</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">ros2Gl</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>143</span> </span><span class="WHIT">        </span><span class="NAME">cameraRot.multiplyMatrices</span><span class="PUNC">(</span><span class="NAME">worldToLocal</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">cameraRot</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>144</span> 
<span class='line'>145</span> </span><span class="WHIT">        </span><span class="NAME">that.currentControlOri.setFromRotationMatrix</span><span class="PUNC">(</span><span class="NAME">cameraRot</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>146</span> 
<span class='line'>147</span> </span><span class="WHIT">        </span><span class="COMM">// check the orientation</span><span class="WHIT">
<span class='line'>148</span> </span><span class="WHIT">        </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="PUNC">!</span><span class="NAME">independentMarkerOrientation</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>149</span> </span><span class="WHIT">          </span><span class="NAME">that.useQuaternion</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">true</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>150</span> </span><span class="WHIT">          </span><span class="NAME">that.quaternion.copy</span><span class="PUNC">(</span><span class="NAME">that.currentControlOri</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>151</span> </span><span class="WHIT">          </span><span class="NAME">that.updateMatrix</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>152</span> </span><span class="WHIT">          </span><span class="NAME">that.matrixWorldNeedsUpdate</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">true</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>153</span> </span><span class="WHIT">        </span><span class="PUNC">}</span><span class="WHIT">
<span class='line'>154</span> </span><span class="WHIT">        </span><span class="NAME">ROS3D.InteractiveMarkerControl.prototype.updateMatrixWorld.call</span><span class="PUNC">(</span><span class="NAME">that</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">force</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>155</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>156</span> </span><span class="WHIT">      </span><span class="KEYW">break</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>157</span> </span><span class="WHIT">    </span><span class="KEYW">default</span><span class="PUNC">:</span><span class="WHIT">
<span class='line'>158</span> </span><span class="WHIT">      </span><span class="NAME">console.error</span><span class="PUNC">(</span><span class="STRN">'Unkown orientation mode: '</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">message.orientation_mode</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>159</span> </span><span class="WHIT">      </span><span class="KEYW">break</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>160</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
<span class='line'>161</span> 
<span class='line'>162</span> </span><span class="WHIT">  </span><span class="COMM">// create visuals (markers)</span><span class="WHIT">
<span class='line'>163</span> </span><span class="WHIT">  </span><span class="NAME">message.markers.forEach</span><span class="PUNC">(</span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">markerMsg</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>164</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">markerHelper</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROS3D.Marker</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>165</span> </span><span class="WHIT">      </span><span class="NAME">message</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">markerMsg</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'>166</span> </span><span class="WHIT">      </span><span class="NAME">path</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">that.path</span><span class="WHIT">
<span class='line'>167</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>168</span> 
<span class='line'>169</span> </span><span class="WHIT">    </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">markerMsg.header.frame_id</span><span class="WHIT"> </span><span class="PUNC">!==</span><span class="WHIT"> </span><span class="STRN">''</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>170</span> </span><span class="WHIT">      </span><span class="COMM">// if the marker lives in its own coordinate frame, convert position into IM's local frame</span><span class="WHIT">
<span class='line'>171</span> </span><span class="WHIT">      </span><span class="NAME">markerHelper.position.add</span><span class="PUNC">(</span><span class="NAME">posInv</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>172</span> </span><span class="WHIT">      </span><span class="NAME">markerHelper.position.applyQuaternion</span><span class="PUNC">(</span><span class="NAME">rotInv</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>173</span> </span><span class="WHIT">      </span><span class="NAME">markerHelper.quaternion.multiplyQuaternions</span><span class="PUNC">(</span><span class="NAME">rotInv</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">markerHelper.quaternion</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>174</span> </span><span class="WHIT">      </span><span class="NAME">markerHelper.updateMatrixWorld</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>175</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="WHIT">
<span class='line'>176</span> 
<span class='line'>177</span> </span><span class="WHIT">    </span><span class="COMM">// add the marker</span><span class="WHIT">
<span class='line'>178</span> </span><span class="WHIT">    </span><span class="NAME">that.add</span><span class="PUNC">(</span><span class="NAME">markerHelper</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>179</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>180</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>181</span> </span><span class="NAME">ROS3D.InteractiveMarkerControl.prototype.__proto__</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">THREE.Object3D.prototype</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>182</span> </span></pre></body></html>